/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2025 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stdio.h"
#include "string.h"
#include "delay.h"
#include "mpu6050.h"
#include "i2c.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
xUART_TypeDef xUART3 = {0};
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
 * @brief  The application entry point.
 * @retval int
 */
int main(void)
{

    /* USER CODE BEGIN 1 */

    /* USER CODE END 1 */

    /* MCU Configuration--------------------------------------------------------*/

    /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    HAL_Init();

    /* USER CODE BEGIN Init */

    /* USER CODE END Init */

    /* Configure the system clock */
    SystemClock_Config();

    /* USER CODE BEGIN SysInit */

    /* USER CODE END SysInit */

    /* Initialize all configured peripherals */
    MX_GPIO_Init();
    MX_DMA_Init();
    MX_USART3_UART_Init();
    /* USER CODE BEGIN 2 */
    delay_init(72);

    HAL_UARTEx_ReceiveToIdle_DMA(&huart3, xUART3.RxTemp, sizeof(xUART3.RxTemp));

    delay_ms(300);

    // if(iic_check_device(MPU_ADDR))
    // {
    //     printf("iic init failed!\r\n");
    // }else{
    //     printf("iic init success!\r\n");

    // }

    if (MPU_Init()) {
        printf("MPU Init failed!\r\n");
    }

    short temperature;
    short x = 0, y = 0, z = 0;


    /* USER CODE END 2 */

    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
    char sendStr[32] = {""};

    while (1) {
        /* USER CODE END WHILE */

        /* USER CODE BEGIN 3 */
        // if (xUART1.RxNum) {
        //     uint8_t* rxData = xUART1.RxData;
        //     strncpy(sendStr, (char*)xUART1.RxData, sizeof(sendStr));
        //     printf("UART1: \r\n");
        //     printf("%s\r\n", rxData);
        //     printf("\r\n");
        //     HAL_UART_Transmit(&huart3, (uint8_t*)sendStr, sizeof(sendStr), 0xFFFF);
        //     xUART1.RxNum = 0;
        // }
        // if (xUART3.RxNum) {
        //     uint16_t rxNum  = xUART3.RxNum;
        //     uint8_t* rxData = xUART3.RxData;
        //     printf("UART2: \r\n");
        //     printf("number of bytes: %d\r\n", rxNum);
        //     printf("ASCII: %s\r\n", rxData);
        //     printf("\r\n");

        //     xUART3.RxNum = 0;
        // }
        temperature = MPU_Get_Temperature();
        printf("temperature=%u\r\n", temperature);
        MPU_Get_Gyroscope(&x, &y, &z);
        printf("gx,gy,gz=%d,%d,%d\r\n", x, y, z);
        MPU_Get_Accelrometer(&x, &y, &z);
        printf("ax,ay,az=%d,%d,%d\r\n\r\n", x, y, z);
        HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
        HAL_Delay(500);
    }
    /* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void)
{
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

    /** Initializes the RCC Oscillators according to the specified parameters
     * in the RCC_OscInitTypeDef structure.
     */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    RCC_OscInitStruct.HSEState       = RCC_HSE_ON;
    RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
    RCC_OscInitStruct.HSIState       = RCC_HSI_ON;
    RCC_OscInitStruct.PLL.PLLState   = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource  = RCC_PLLSOURCE_HSE;
    RCC_OscInitStruct.PLL.PLLMUL     = RCC_PLL_MUL9;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
        Error_Handler();
    }

    /** Initializes the CPU, AHB and APB buses clocks
     */
    RCC_ClkInitStruct.ClockType =
        RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource   = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider  = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
        Error_Handler();
    }
}

/* USER CODE BEGIN 4 */
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef* huart, uint16_t Size)
{
    if (huart == &huart3) {
        __HAL_UNLOCK(&huart3);

        xUART3.RxNum = Size;
        memset(xUART3.RxData, 0, sizeof(xUART3.RxData));
        memcpy(xUART3.RxData, xUART3.RxTemp, Size);
        HAL_UARTEx_ReceiveToIdle_DMA(&huart3, xUART3.RxTemp, sizeof(xUART3.RxTemp));
    }
}
/* USER CODE END 4 */

/**
 * @brief  This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void)
{
    /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */
    __disable_irq();
    while (1) {
    }
    /* USER CODE END Error_Handler_Debug */
}

#ifdef USE_FULL_ASSERT
/**
 * @brief  Reports the name of the source file and the source line number
 *         where the assert_param error has occurred.
 * @param  file: pointer to the source file name
 * @param  line: assert_param error line source number
 * @retval None
 */
void assert_failed(uint8_t* file, uint32_t line)
{
    /* USER CODE BEGIN 6 */
    /* User can add his own implementation to report the file name and line number,
       ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
    /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
